From 477219b526f8b4dda85174f4997c5f34b97414ad Mon Sep 17 00:00:00 2001 From: wuallenwu Date: Thu, 11 Jul 2024 12:16:44 -0700 Subject: [PATCH 01/10] added inertialess legs --- ksim/assets/HEHEHEHAW/.cache/assembly.json | 25012 +++++++ .../.cache/assembly_14af33734f8725a8.json | 7046 ++ .../.cache/assembly_2550e9ded7e009c4.json | 21074 ++++++ .../.cache/assembly_6a2547bf5d106977.json | 21074 ++++++ .../.cache/assembly_71baaf6c832e77b4.json | 1567 + .../.cache/assembly_80ade2e9422f474f.json | 60861 ++++++++++++++++ .../.cache/assembly_80dcd908d8e7c489.json | 60861 ++++++++++++++++ .../.cache/assembly_9710a9ec91376c29.json | 1567 + .../.cache/assembly_9a04af86be774a1e.json | 792 + .../.cache/assembly_a02d02fc411d42c0.json | 792 + .../.cache/assembly_da3b0f64833bb1f9.json | 1567 + .../.cache/assembly_dfcf53638e137f6e.json | 792 + .../.cache/assembly_fc9cff74f2921f36.json | 792 + .../HEHEHEHAW/.cache/assembly_metadata.json | 117 + ...part_04cd4830d5dded27_mass_properties.json | 86 + 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..._x8_90_mock_2_inner_rmd_x8_90_1_simple.stl | Bin 0 -> 7084 bytes ..._x8_90_mock_2_outer_rmd_x8_90_1_simple.stl | Bin 0 -> 20084 bytes ..._x8_90_mock_3_inner_rmd_x8_90_1_simple.stl | Bin 0 -> 7084 bytes ..._x8_90_mock_3_outer_rmd_x8_90_1_simple.stl | Bin 0 -> 20084 bytes ...ght_foot_1_ankle_half_1_right_1_simple.stl | Bin 0 -> 18934 bytes ...ght_foot_1_ankle_half_2_right_2_simple.stl | Bin 0 -> 16034 bytes .../meshes/right_foot_1_foot_1_simple.stl | Bin 0 -> 21834 bytes ..._x4_24_mock_1_inner_rmd_x4_24_1_simple.stl | Bin 0 -> 4084 bytes ..._x4_24_mock_1_outer_rmd_x4_24_1_simple.stl | Bin 0 -> 8884 bytes .../right_foot_1_rubber_grip_3_simple.stl | Bin 0 -> 2984 bytes ksim/assets/stompy/legs.xml | 42 +- ksim/mjx_gym/envs/stompy_env/stompy.py | 5 +- ksim/mjx_gym/play.py | 4 + ksim/mjx_gym/test.py | 3 + ksim/mjx_gym/utils/rollouts.py | 1 + .../weights/stompy_walkdefault_walk.pkl | Bin 477980 -> 278936 bytes 153 files changed, 216983 insertions(+), 22 deletions(-) create mode 100644 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"/Users/allen/KScale/ksim/ksim/assets/stompyold/stompy_armless.xml" mj_model = mujoco.MjModel.from_xml_path(path) mj_model.opt.solver = mujoco.mjtSolver.mjSOL_CG mj_model.opt.iterations = 6 @@ -50,6 +52,7 @@ def __init__( self._exclude_current_positions_from_observation = exclude_current_positions_from_observation self._log_reward_breakdown = log_reward_breakdown + print("initial_qpos", mj_model.keyframe("default").qpos) self.initial_qpos = mj_model.keyframe("default").qpos self.reward_fn = get_reward_fn(self._reward_params, self.dt, include_reward_breakdown=True) diff --git a/ksim/mjx_gym/play.py b/ksim/mjx_gym/play.py index 2e8c09f..3a6fe95 100644 --- a/ksim/mjx_gym/play.py +++ b/ksim/mjx_gym/play.py @@ -5,6 +5,7 @@ import os from typing import Any +import jax as j import mediapy as media import numpy as np import wandb @@ -40,6 +41,9 @@ def play(config: dict[str, Any], n_steps: int, render_every: int, width: int, he exclude_current_positions_from_observation=config.get("exclude_current_positions_from_observation", True), log_reward_breakdown=config.get("log_reward_breakdown", True), ) + # Reset environment + rng = j.random.PRNGKey(0) + env.reset(rng) logger.info( "Loaded environment %s with env.observation_size: %s and env.action_size: %s", diff --git a/ksim/mjx_gym/test.py b/ksim/mjx_gym/test.py index f67212e..f58c2a8 100644 --- a/ksim/mjx_gym/test.py +++ b/ksim/mjx_gym/test.py @@ -5,6 +5,7 @@ import os from typing import Any +import jax as j import mediapy as media import yaml @@ -30,6 +31,8 @@ def play(config: dict[str, Any], n_steps: int, render_every: int, width: int, he exclude_current_positions_from_observation=config.get("exclude_current_positions_from_observation", True), log_reward_breakdown=config.get("log_reward_breakdown", True), ) + rng = j.random.PRNGKey(0) + env.reset(rng) print(f"Env loaded: {config.get('env_name', 'could not find environment')}") images_thwc = render_random_rollout(env, 200, render_every, width, height) print(f"Rolled out {len(images_thwc) * render_every} steps") diff --git a/ksim/mjx_gym/utils/rollouts.py b/ksim/mjx_gym/utils/rollouts.py index ffd79dd..80b602f 100644 --- a/ksim/mjx_gym/utils/rollouts.py +++ b/ksim/mjx_gym/utils/rollouts.py @@ -123,6 +123,7 @@ def render_mujoco_rollout( act_rng, seed = jax.random.split(rng) obs = env._get_obs(mjx.put_data(model, data), ctrl) # TODO: implement methods in envs that avoid having to use mjx in a hacky way... + print(obs) ctrl, _ = inference_fn(obs, act_rng) data.ctrl = ctrl for _ in range(env._n_frames): diff --git a/ksim/mjx_gym/weights/stompy_walkdefault_walk.pkl b/ksim/mjx_gym/weights/stompy_walkdefault_walk.pkl index 539c4b30cdac22ddfeb1cde72ec4f58f95b70f67..dd1d47fa475b174d16ba40cd47494aef08e07a75 100644 GIT binary patch literal 278936 zcmb@tcT^P3xAzN@K@b$lU`9-U31PZ-5eLL9C}t6nq=JeBGdW3;B#3~ZBoR>oB~0%c z6cLOhF`@*)j3VX)FVFKk=iamKI{&@5*P2-~)w_Dt?yCOO{?@Jz6i;a#CGzhPGi9r{ 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@c_PWY*_Ytx9Qe!X%7Z}09 zbALcJy@9^AX!8#JS1^5?WQNan$C92Z+;`4TvI~*krQ{GEW2?_jXRAp?QC0F_TELZZ zPc|FYSE#So;Jg7@u-EfGov1lNFZ2Ac>h)#P&Y8%2Bpv2e*&*Z~qzZW--_q0)2mGA* zh2$%SP(_(OK9k@8OKp|F)c2-%R?eDQFRSvhn^Q3Gx-mcU(ZO+E5!hL`3}(KP=4Q3d zJSBZNP8jRUU4IV+_wBo!i%$)L$ck`o`|OMIOMcVahROW?=U33_IbQIp0y_WwCd{oK zPIc%j1sOhovnIvR`2CWgGrWytyWfLd$~N%fYZt87DWiPMX>B;@0BuIW28U7ZifyT$OVj z`i2z=Uv0~Tp0mHeg9CR2#Uej)e`CsR!M%9d1qr_&BJ?&?6&(u& zr>a~t9IV$a6jscn)smlO$yFa58!83%s>*@Yc~u-+AjAGiA7R%)3v5``AN#K}$7B2E z!felzFwpn9a9DN@ZfzKZFXML#R#WZ4d5Z?QPxnCY2{JHd`yJ|5@8EnR?kE}g*Mh!_ zDTCcP&~n&I>RG+mN!MQ}^=%^2;||?74&hyW-w3uk+7xxtngIEv4hGgf8=i``7S1SJ~xtm z3tKBs^*86xibUahccy0Jwc>~CJM#!@=iK&ex-nqZqmIC zBdL1MW^qW)EPSGnMfR6FA-qp8ZWw(TIxU8xlI$Y*b5Wiyjwul4$ULR`x4AHBm>~?? z{DJy5y(W!1KYTJbq4NHtAg=mS1Y=^hL9fsVe!Dw}R~Xt*z-d3&6`Ti#F2~_UP841} zUQYiQ_Jz88pJ0;YhbJ^g#WOlMs&)cQ_?bbIm!6<){S~-2*pkjC5$&XCwl%4#0zJ(L6^*nqT8n~T;ev2t!``w_Z(GRACXMcB4l|<>+{MD*JEh= z$7yt*e+l1CJ#l_k(iiIQjKaZhcRS1H&Y^;!U(PL`BpuV;Ea>se1tey`&P}p1|Mf{s zw~RANjWdq>zx0Kn|1W((c5Ql`PO7`Y_&>(t|H2O>rY~HO9+Dmx5~pk#C$${>WTfjf z*QZ+Jt~tbeV(Tu=9veG We=h(3tonbi*}{eM7e=j1xA_lf9pO3v From bff0b2ada431d7b4a1776904fee3531b3881424e Mon Sep 17 00:00:00 2001 From: wuallenwu Date: Thu, 11 Jul 2024 16:10:29 -0700 Subject: [PATCH 04/10] reward fixes --- ksim/assets/inertia_legs/legs.xml | 2 ++ ksim/assets/stompy/legs.xml | 2 ++ ksim/mjx_gym/envs/stompy_env/rewards.py | 4 ++++ ksim/mjx_gym/experiments/stompy_walk.yaml | 6 +++--- ksim/mjx_gym/utils/rollouts.py | 2 +- ...alk.pkl => default_humanoid_walkdefault_run.pkl} | Bin 6 files changed, 12 insertions(+), 4 deletions(-) rename ksim/mjx_gym/weights/{default_humanoid_walk.pkl => default_humanoid_walkdefault_run.pkl} (100%) diff --git a/ksim/assets/inertia_legs/legs.xml b/ksim/assets/inertia_legs/legs.xml index 7581793..0c3547b 100644 --- a/ksim/assets/inertia_legs/legs.xml +++ b/ksim/assets/inertia_legs/legs.xml @@ -76,6 +76,8 @@ + + diff --git a/ksim/assets/stompy/legs.xml b/ksim/assets/stompy/legs.xml index 749b820..c2633da 100644 --- a/ksim/assets/stompy/legs.xml +++ b/ksim/assets/stompy/legs.xml @@ -39,6 +39,8 @@ + + diff --git a/ksim/mjx_gym/envs/stompy_env/rewards.py b/ksim/mjx_gym/envs/stompy_env/rewards.py index ffced17..6b5a3b4 100644 --- a/ksim/mjx_gym/envs/stompy_env/rewards.py +++ b/ksim/mjx_gym/envs/stompy_env/rewards.py @@ -108,6 +108,10 @@ def healthy_reward_fn( is_healthy = jp.where(state.q[2] > max_z, 0.0, is_healthy) healthy_reward = jp.array(params["weight"]) * is_healthy + # jax.debug.breakpoint() + # print(state.q[2].to_py()) + # print(healthy_reward, is_healthy) + # breakpoint() return healthy_reward, is_healthy diff --git a/ksim/mjx_gym/experiments/stompy_walk.yaml b/ksim/mjx_gym/experiments/stompy_walk.yaml index 2738f25..43b4dce 100644 --- a/ksim/mjx_gym/experiments/stompy_walk.yaml +++ b/ksim/mjx_gym/experiments/stompy_walk.yaml @@ -12,7 +12,7 @@ num_updates_per_batch: 8 discounting: 0.97 learning_rate: 0.0003 entropy_cost: 0.001 -num_envs: 2048 +num_envs: 1 batch_size: 512 seed: 0 env_name: stompy @@ -21,8 +21,8 @@ reward_params: weight: 1.25 rew_healthy: weight: 5.0 - healthy_z_lower: 0.4 - healthy_z_upper: 4.0 + healthy_z_lower: -1.0 + healthy_z_upper: 0.0 rew_height: weight: 0.8 rew_ctrl_cost: diff --git a/ksim/mjx_gym/utils/rollouts.py b/ksim/mjx_gym/utils/rollouts.py index 80b602f..f62c8a2 100644 --- a/ksim/mjx_gym/utils/rollouts.py +++ b/ksim/mjx_gym/utils/rollouts.py @@ -123,7 +123,7 @@ def render_mujoco_rollout( act_rng, seed = jax.random.split(rng) obs = env._get_obs(mjx.put_data(model, data), ctrl) # TODO: implement methods in envs that avoid having to use mjx in a hacky way... - print(obs) + # print(obs) ctrl, _ = inference_fn(obs, act_rng) data.ctrl = ctrl for _ in range(env._n_frames): diff --git a/ksim/mjx_gym/weights/default_humanoid_walk.pkl b/ksim/mjx_gym/weights/default_humanoid_walkdefault_run.pkl similarity index 100% rename from ksim/mjx_gym/weights/default_humanoid_walk.pkl rename to ksim/mjx_gym/weights/default_humanoid_walkdefault_run.pkl From 244360190889cf59e59a4d6a260e5ed35cddb253 Mon Sep 17 00:00:00 2001 From: wuallenwu Date: Tue, 16 Jul 2024 16:00:09 -0700 Subject: [PATCH 05/10] kill pycache nonsense, new weights --- ksim/assets/inertia_legs/.cache/assembly.json | 25012 ------- .../.cache/assembly_14af33734f8725a8.json | 7046 -- .../.cache/assembly_2550e9ded7e009c4.json | 21074 ------ .../.cache/assembly_6a2547bf5d106977.json | 21074 ------ .../.cache/assembly_71baaf6c832e77b4.json | 1567 - .../.cache/assembly_80ade2e9422f474f.json | 60861 ---------------- .../.cache/assembly_80dcd908d8e7c489.json | 60861 ---------------- .../.cache/assembly_9710a9ec91376c29.json | 1567 - .../.cache/assembly_9a04af86be774a1e.json | 792 - .../.cache/assembly_a02d02fc411d42c0.json | 792 - .../.cache/assembly_da3b0f64833bb1f9.json | 1567 - .../.cache/assembly_dfcf53638e137f6e.json | 792 - .../.cache/assembly_fc9cff74f2921f36.json | 792 - .../.cache/assembly_metadata.json | 117 - ...part_04cd4830d5dded27_mass_properties.json | 86 - .../part_04cd4830d5dded27_metadata.json | 214 - ...part_0593756640910f21_mass_properties.json | 86 - .../part_0593756640910f21_metadata.json | 214 - ...part_0e982b50cc346e75_mass_properties.json | 86 - .../part_0e982b50cc346e75_metadata.json | 140 - ...part_18fb24367d56cfb3_mass_properties.json | 86 - .../part_18fb24367d56cfb3_metadata.json | 214 - ...part_1e234ba451362500_mass_properties.json | 86 - .../part_1e234ba451362500_metadata.json | 215 - ...part_242498a529e80c46_mass_properties.json | 86 - .../part_242498a529e80c46_metadata.json | 214 - ...part_26dba2267e129cd2_mass_properties.json | 86 - .../part_26dba2267e129cd2_metadata.json | 214 - ...part_2b3e73df4e5a1d6c_mass_properties.json | 86 - .../part_2b3e73df4e5a1d6c_metadata.json | 214 - ...part_2e527b9fb23612c8_mass_properties.json | 86 - .../part_2e527b9fb23612c8_metadata.json | 214 - ...part_2f64ca2427bd33d0_mass_properties.json | 86 - 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0 .../.cache/assembly_14af33734f8725a8.json | 0 .../.cache/assembly_2550e9ded7e009c4.json | 0 .../.cache/assembly_6a2547bf5d106977.json | 0 .../.cache/assembly_71baaf6c832e77b4.json | 0 .../.cache/assembly_80ade2e9422f474f.json | 0 .../.cache/assembly_80dcd908d8e7c489.json | 0 .../.cache/assembly_9710a9ec91376c29.json | 0 .../.cache/assembly_9a04af86be774a1e.json | 0 .../.cache/assembly_a02d02fc411d42c0.json | 0 .../.cache/assembly_da3b0f64833bb1f9.json | 0 .../.cache/assembly_dfcf53638e137f6e.json | 0 .../.cache/assembly_fc9cff74f2921f36.json | 0 .../.cache/assembly_metadata.json | 0 ...part_04cd4830d5dded27_mass_properties.json | 0 .../part_04cd4830d5dded27_metadata.json | 0 ...part_0593756640910f21_mass_properties.json | 0 .../part_0593756640910f21_metadata.json | 0 ...part_0e982b50cc346e75_mass_properties.json | 0 .../part_0e982b50cc346e75_metadata.json | 0 ...part_18fb24367d56cfb3_mass_properties.json | 0 .../part_18fb24367d56cfb3_metadata.json | 0 ...part_1e234ba451362500_mass_properties.json | 0 .../part_1e234ba451362500_metadata.json | 0 ...part_242498a529e80c46_mass_properties.json | 0 .../part_242498a529e80c46_metadata.json | 0 ...part_26dba2267e129cd2_mass_properties.json | 0 .../part_26dba2267e129cd2_metadata.json | 0 ...part_2b3e73df4e5a1d6c_mass_properties.json | 0 .../part_2b3e73df4e5a1d6c_metadata.json | 0 ...part_2e527b9fb23612c8_mass_properties.json | 0 .../part_2e527b9fb23612c8_metadata.json | 0 ...part_2f64ca2427bd33d0_mass_properties.json | 0 .../part_2f64ca2427bd33d0_metadata.json | 0 ...part_3b8f600f8a6d4c59_mass_properties.json | 0 .../part_3b8f600f8a6d4c59_metadata.json | 0 ...part_4109a5a4de9b4279_mass_properties.json | 0 .../part_4109a5a4de9b4279_metadata.json | 0 ...part_46b370c9d9f21624_mass_properties.json | 0 .../part_46b370c9d9f21624_metadata.json | 0 ...part_4e2e8c5f6625c823_mass_properties.json | 0 .../part_4e2e8c5f6625c823_metadata.json | 0 ...part_524c32c50e904123_mass_properties.json | 0 .../part_524c32c50e904123_metadata.json | 0 ...part_5f4d0663000f2eb3_mass_properties.json | 0 .../part_5f4d0663000f2eb3_metadata.json | 0 ...part_65e7248d17c0235b_mass_properties.json | 0 .../part_65e7248d17c0235b_metadata.json | 0 ...part_660aeb988e16f3b5_mass_properties.json | 0 .../part_660aeb988e16f3b5_metadata.json | 0 ...part_6f871578bc122035_mass_properties.json | 0 .../part_6f871578bc122035_metadata.json | 0 ...part_775ab8fb275fdb32_mass_properties.json | 0 .../part_775ab8fb275fdb32_metadata.json | 0 ...part_7de83f9423564efa_mass_properties.json | 0 .../part_7de83f9423564efa_metadata.json | 0 ...part_7ecb48d0a333da99_mass_properties.json | 0 .../part_7ecb48d0a333da99_metadata.json | 0 ...part_8b3e9478b70deafd_mass_properties.json | 0 .../part_8b3e9478b70deafd_metadata.json | 0 ...part_957074c40ca206bb_mass_properties.json | 0 .../part_957074c40ca206bb_metadata.json | 0 ...part_9ce432804582b2be_mass_properties.json | 0 .../part_9ce432804582b2be_metadata.json | 0 ...part_9e789d44d0846577_mass_properties.json | 0 .../part_9e789d44d0846577_metadata.json | 0 ...part_9f766add82065b37_mass_properties.json | 0 .../part_9f766add82065b37_metadata.json | 0 ...part_aa80d4612beb8a37_mass_properties.json | 0 .../part_aa80d4612beb8a37_metadata.json | 0 ...part_ab58c3d191c9d0a5_mass_properties.json | 0 .../part_ab58c3d191c9d0a5_metadata.json | 0 ...part_b1ca73afe632657f_mass_properties.json | 0 .../part_b1ca73afe632657f_metadata.json | 0 ...part_bed0fc4cc364bca6_mass_properties.json | 0 .../part_bed0fc4cc364bca6_metadata.json | 0 ...part_bef2631049384dd7_mass_properties.json | 0 .../part_bef2631049384dd7_metadata.json | 0 ...part_c4097c3735dd1f7c_mass_properties.json | 0 .../part_c4097c3735dd1f7c_metadata.json | 0 ...part_c5eb18d1d03f1a85_mass_properties.json | 0 .../part_c5eb18d1d03f1a85_metadata.json | 0 ...part_d14dd8128fc310fd_mass_properties.json | 0 .../part_d14dd8128fc310fd_metadata.json | 0 ...part_d623f483ad7c8c65_mass_properties.json | 0 .../part_d623f483ad7c8c65_metadata.json | 0 ...part_d9171d93b94d6721_mass_properties.json | 0 .../part_d9171d93b94d6721_metadata.json | 0 ...part_dd2e907c91939b3f_mass_properties.json | 0 .../part_dd2e907c91939b3f_metadata.json | 0 ...part_ddbdb81e76c3f806_mass_properties.json | 0 .../part_ddbdb81e76c3f806_metadata.json | 0 ...part_e708747b722cc2c2_mass_properties.json | 0 .../part_e708747b722cc2c2_metadata.json | 0 ...part_e89d4b0a06262642_mass_properties.json | 0 .../part_e89d4b0a06262642_metadata.json | 0 ...part_eb3d3a7d26b77a55_mass_properties.json | 0 .../part_eb3d3a7d26b77a55_metadata.json | 0 .../legs.xml} | 0 ...left_foot_1_ankle_half_1_left_2_simple.stl | Bin ...left_foot_1_ankle_half_2_left_1_simple.stl | Bin .../meshes/left_foot_1_foot_1_simple.stl | Bin ..._x4_24_mock_1_inner_rmd_x4_24_1_simple.stl | Bin ..._x4_24_mock_1_outer_rmd_x4_24_1_simple.stl | Bin .../left_foot_1_rubber_grip_1_simple.stl | Bin ...eg_assembly_left_1_leg_part_1_2_simple.stl | Bin ...sembly_left_1_leg_part_2_left_1_simple.stl | Bin ...eg_assembly_left_1_leg_part_3_1_simple.stl | Bin ...eg_assembly_left_1_leg_part_4_1_simple.stl | Bin ...eg_assembly_left_1_leg_part_6_2_simple.stl | Bin ...eg_assembly_left_1_leg_part_7_1_simple.stl | Bin ...sembly_left_1_let_part_5_left_1_simple.stl | Bin ..._x12_150_mock_1_inner_x12_150_1_simple.stl | Bin ..._x12_150_mock_1_outer_x12_150_1_simple.stl | Bin ..._x4_24_mock_1_inner_rmd_x4_24_1_simple.stl | Bin ..._x4_24_mock_1_outer_rmd_x4_24_1_simple.stl | Bin ..._x8_90_mock_1_inner_rmd_x8_90_1_simple.stl | Bin ..._x8_90_mock_1_outer_rmd_x8_90_1_simple.stl | Bin ..._x8_90_mock_2_inner_rmd_x8_90_1_simple.stl | Bin ..._x8_90_mock_2_outer_rmd_x8_90_1_simple.stl | Bin ..._x8_90_mock_3_inner_rmd_x8_90_1_simple.stl | Bin ..._x8_90_mock_3_outer_rmd_x8_90_1_simple.stl | Bin ...g_assembly_right_1_leg_part_1_2_simple.stl | Bin ...mbly_right_1_leg_part_2_right_1_simple.stl | Bin ...g_assembly_right_1_leg_part_3_1_simple.stl | Bin ...g_assembly_right_1_leg_part_4_1_simple.stl | Bin ...mbly_right_1_leg_part_5_right_2_simple.stl | Bin ...g_assembly_right_1_leg_part_6_2_simple.stl | Bin ...g_assembly_right_1_leg_part_7_1_simple.stl | Bin ..._x12_150_mock_1_inner_x12_150_1_simple.stl | Bin ..._x12_150_mock_1_outer_x12_150_1_simple.stl | Bin ..._x4_24_mock_1_inner_rmd_x4_24_1_simple.stl | Bin ..._x4_24_mock_1_outer_rmd_x4_24_1_simple.stl | Bin ..._x8_90_mock_1_inner_rmd_x8_90_1_simple.stl | Bin ..._x8_90_mock_1_outer_rmd_x8_90_1_simple.stl | Bin ..._x8_90_mock_2_inner_rmd_x8_90_1_simple.stl | Bin ..._x8_90_mock_2_outer_rmd_x8_90_1_simple.stl | Bin ..._x8_90_mock_3_inner_rmd_x8_90_1_simple.stl | Bin ..._x8_90_mock_3_outer_rmd_x8_90_1_simple.stl | Bin ...ght_foot_1_ankle_half_1_right_1_simple.stl | Bin ...ght_foot_1_ankle_half_2_right_2_simple.stl | Bin .../meshes/right_foot_1_foot_1_simple.stl | Bin ..._x4_24_mock_1_inner_rmd_x4_24_1_simple.stl | Bin ..._x4_24_mock_1_outer_rmd_x4_24_1_simple.stl | Bin .../right_foot_1_rubber_grip_3_simple.stl | Bin ksim/mjx_gym/envs/stompy_env/stompy.py | 4 +- ksim/mjx_gym/experiments/stompy_walk.yaml | 2 +- 149 files changed, 2 insertions(+), 301 deletions(-) delete mode 100644 ksim/assets/HEHEHEHAW/legs.urdf delete mode 100644 ksim/assets/HEHEHEHAW/legs.xml rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/assembly.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/assembly_14af33734f8725a8.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/assembly_2550e9ded7e009c4.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/assembly_6a2547bf5d106977.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/assembly_71baaf6c832e77b4.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/assembly_80ade2e9422f474f.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/assembly_80dcd908d8e7c489.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/assembly_9710a9ec91376c29.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/assembly_9a04af86be774a1e.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/assembly_a02d02fc411d42c0.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/assembly_da3b0f64833bb1f9.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/assembly_dfcf53638e137f6e.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/assembly_fc9cff74f2921f36.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/assembly_metadata.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/part_04cd4830d5dded27_mass_properties.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/part_04cd4830d5dded27_metadata.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/part_0593756640910f21_mass_properties.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/part_0593756640910f21_metadata.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/part_0e982b50cc346e75_mass_properties.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/part_0e982b50cc346e75_metadata.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/part_18fb24367d56cfb3_mass_properties.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/part_18fb24367d56cfb3_metadata.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/part_1e234ba451362500_mass_properties.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/part_1e234ba451362500_metadata.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/part_242498a529e80c46_mass_properties.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/part_242498a529e80c46_metadata.json (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/.cache/part_26dba2267e129cd2_mass_properties.json (100%) rename ksim/assets/{HEHEHEHAW => 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inertia_legs}/meshes/leg_assembly_left_1_leg_part_1_2_simple.stl (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/meshes/leg_assembly_left_1_leg_part_2_left_1_simple.stl (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/meshes/leg_assembly_left_1_leg_part_3_1_simple.stl (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/meshes/leg_assembly_left_1_leg_part_4_1_simple.stl (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/meshes/leg_assembly_left_1_leg_part_6_2_simple.stl (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/meshes/leg_assembly_left_1_leg_part_7_1_simple.stl (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/meshes/leg_assembly_left_1_let_part_5_left_1_simple.stl (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/meshes/leg_assembly_left_1_rmd_x12_150_mock_1_inner_x12_150_1_simple.stl (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/meshes/leg_assembly_left_1_rmd_x12_150_mock_1_outer_x12_150_1_simple.stl (100%) rename ksim/assets/{HEHEHEHAW => 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inertia_legs}/meshes/leg_assembly_right_1_rmd_x8_90_mock_3_outer_rmd_x8_90_1_simple.stl (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/meshes/right_foot_1_ankle_half_1_right_1_simple.stl (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/meshes/right_foot_1_ankle_half_2_right_2_simple.stl (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/meshes/right_foot_1_foot_1_simple.stl (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/meshes/right_foot_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1_simple.stl (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/meshes/right_foot_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1_simple.stl (100%) rename ksim/assets/{HEHEHEHAW => inertia_legs}/meshes/right_foot_1_rubber_grip_3_simple.stl (100%) diff --git a/ksim/assets/HEHEHEHAW/legs.urdf b/ksim/assets/HEHEHEHAW/legs.urdf deleted file mode 100644 index 805aaea..0000000 --- a/ksim/assets/HEHEHEHAW/legs.urdf +++ /dev/null @@ -1,148 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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to ksim/assets/inertia_legs/meshes/leg_assembly_right_1_rmd_x8_90_mock_2_inner_rmd_x8_90_1_simple.stl diff --git a/ksim/assets/HEHEHEHAW/meshes/leg_assembly_right_1_rmd_x8_90_mock_2_outer_rmd_x8_90_1_simple.stl b/ksim/assets/inertia_legs/meshes/leg_assembly_right_1_rmd_x8_90_mock_2_outer_rmd_x8_90_1_simple.stl similarity index 100% rename from ksim/assets/HEHEHEHAW/meshes/leg_assembly_right_1_rmd_x8_90_mock_2_outer_rmd_x8_90_1_simple.stl rename to ksim/assets/inertia_legs/meshes/leg_assembly_right_1_rmd_x8_90_mock_2_outer_rmd_x8_90_1_simple.stl diff --git a/ksim/assets/HEHEHEHAW/meshes/leg_assembly_right_1_rmd_x8_90_mock_3_inner_rmd_x8_90_1_simple.stl b/ksim/assets/inertia_legs/meshes/leg_assembly_right_1_rmd_x8_90_mock_3_inner_rmd_x8_90_1_simple.stl similarity index 100% rename from ksim/assets/HEHEHEHAW/meshes/leg_assembly_right_1_rmd_x8_90_mock_3_inner_rmd_x8_90_1_simple.stl rename to ksim/assets/inertia_legs/meshes/leg_assembly_right_1_rmd_x8_90_mock_3_inner_rmd_x8_90_1_simple.stl diff --git a/ksim/assets/HEHEHEHAW/meshes/leg_assembly_right_1_rmd_x8_90_mock_3_outer_rmd_x8_90_1_simple.stl b/ksim/assets/inertia_legs/meshes/leg_assembly_right_1_rmd_x8_90_mock_3_outer_rmd_x8_90_1_simple.stl similarity index 100% rename from ksim/assets/HEHEHEHAW/meshes/leg_assembly_right_1_rmd_x8_90_mock_3_outer_rmd_x8_90_1_simple.stl rename to ksim/assets/inertia_legs/meshes/leg_assembly_right_1_rmd_x8_90_mock_3_outer_rmd_x8_90_1_simple.stl diff --git a/ksim/assets/HEHEHEHAW/meshes/right_foot_1_ankle_half_1_right_1_simple.stl b/ksim/assets/inertia_legs/meshes/right_foot_1_ankle_half_1_right_1_simple.stl similarity index 100% rename from ksim/assets/HEHEHEHAW/meshes/right_foot_1_ankle_half_1_right_1_simple.stl rename to ksim/assets/inertia_legs/meshes/right_foot_1_ankle_half_1_right_1_simple.stl diff --git a/ksim/assets/HEHEHEHAW/meshes/right_foot_1_ankle_half_2_right_2_simple.stl b/ksim/assets/inertia_legs/meshes/right_foot_1_ankle_half_2_right_2_simple.stl similarity index 100% rename from ksim/assets/HEHEHEHAW/meshes/right_foot_1_ankle_half_2_right_2_simple.stl rename to ksim/assets/inertia_legs/meshes/right_foot_1_ankle_half_2_right_2_simple.stl diff --git a/ksim/assets/HEHEHEHAW/meshes/right_foot_1_foot_1_simple.stl b/ksim/assets/inertia_legs/meshes/right_foot_1_foot_1_simple.stl similarity index 100% rename from ksim/assets/HEHEHEHAW/meshes/right_foot_1_foot_1_simple.stl rename to ksim/assets/inertia_legs/meshes/right_foot_1_foot_1_simple.stl diff --git a/ksim/assets/HEHEHEHAW/meshes/right_foot_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1_simple.stl b/ksim/assets/inertia_legs/meshes/right_foot_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1_simple.stl similarity index 100% rename from ksim/assets/HEHEHEHAW/meshes/right_foot_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1_simple.stl rename to ksim/assets/inertia_legs/meshes/right_foot_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1_simple.stl diff --git a/ksim/assets/HEHEHEHAW/meshes/right_foot_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1_simple.stl b/ksim/assets/inertia_legs/meshes/right_foot_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1_simple.stl similarity index 100% rename from ksim/assets/HEHEHEHAW/meshes/right_foot_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1_simple.stl rename to ksim/assets/inertia_legs/meshes/right_foot_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1_simple.stl diff --git a/ksim/assets/HEHEHEHAW/meshes/right_foot_1_rubber_grip_3_simple.stl b/ksim/assets/inertia_legs/meshes/right_foot_1_rubber_grip_3_simple.stl similarity index 100% rename from ksim/assets/HEHEHEHAW/meshes/right_foot_1_rubber_grip_3_simple.stl rename to ksim/assets/inertia_legs/meshes/right_foot_1_rubber_grip_3_simple.stl diff --git a/ksim/mjx_gym/envs/stompy_env/stompy.py b/ksim/mjx_gym/envs/stompy_env/stompy.py index 0ef26ff..890259a 100644 --- a/ksim/mjx_gym/envs/stompy_env/stompy.py +++ b/ksim/mjx_gym/envs/stompy_env/stompy.py @@ -30,9 +30,7 @@ def __init__( log_reward_breakdown: bool = True, **kwargs: Unpack[EnvKwargs], ) -> None: - # path = os.getenv("MODEL_DIR", "") + "/stompy/stompy_armless.xml" - # path = "/Users/allen/KScale/ksim/ksim/assets/stompy/legs.xml" - path = "/Users/allen/KScale/ksim/ksim/assets/stompyold/stompy_armless.xml" + path = os.getenv("MODEL_DIR", "") + "/stompy/stompy_armless.xml" mj_model = mujoco.MjModel.from_xml_path(path) mj_model.opt.solver = mujoco.mjtSolver.mjSOL_CG mj_model.opt.iterations = 6 diff --git a/ksim/mjx_gym/experiments/stompy_walk.yaml b/ksim/mjx_gym/experiments/stompy_walk.yaml index 14d3b66..2738f25 100644 --- a/ksim/mjx_gym/experiments/stompy_walk.yaml +++ b/ksim/mjx_gym/experiments/stompy_walk.yaml @@ -12,7 +12,7 @@ num_updates_per_batch: 8 discounting: 0.97 learning_rate: 0.0003 entropy_cost: 0.001 -num_envs: 1024 +num_envs: 2048 batch_size: 512 seed: 0 env_name: stompy From 86ca70ff230ae668f87263b11a4e945f1d78d240 Mon Sep 17 00:00:00 2001 From: wuallenwu Date: Thu, 11 Jul 2024 22:02:59 +0000 Subject: [PATCH 03/10] new weights --- ksim/mjx_gym/envs/stompy_env/stompy.py | 3 ++- .../weights/stompy_walkdefault_walk.pkl | Bin 278936 -> 278935 bytes 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/ksim/mjx_gym/envs/stompy_env/stompy.py b/ksim/mjx_gym/envs/stompy_env/stompy.py index 890259a..a6a4beb 100644 --- a/ksim/mjx_gym/envs/stompy_env/stompy.py +++ b/ksim/mjx_gym/envs/stompy_env/stompy.py @@ -30,7 +30,8 @@ def __init__( log_reward_breakdown: bool = True, **kwargs: Unpack[EnvKwargs], ) -> None: - path = os.getenv("MODEL_DIR", "") + "/stompy/stompy_armless.xml" + # path = os.getenv("MODEL_DIR", "") + "/stompy/stompy_armless.xml" + path = "/home/awu/ksim/ksim/assets/inertia_legs/legs.xml" mj_model = mujoco.MjModel.from_xml_path(path) mj_model.opt.solver = mujoco.mjtSolver.mjSOL_CG mj_model.opt.iterations = 6 diff --git a/ksim/mjx_gym/weights/stompy_walkdefault_walk.pkl b/ksim/mjx_gym/weights/stompy_walkdefault_walk.pkl index dd1d47fa475b174d16ba40cd47494aef08e07a75..875757fe34a63b65d718860f79bede7a340a1679 100644 GIT binary patch literal 278935 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